Intelligent Visual Servoing for Nonholonomic Mobile Robots

被引：0

作者：

Lopez-Franco, Carlos ^{[1
]}

Lopez-Franco, Michel ^{[2
]}

Sanchez, Edgar N. ^{[2
]}

Alanis, Alma Y. ^{[1
]}

机构：

[1] Univ Guadalajara, CUCEI, Guadalajara, Jalisco, Mexico

[2] CINVESTAV, Unidad Guadalajara, Guadalajara 45015, Jalisco, Mexico

来源：

PROCEEDINGS OF THE 2014 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN) | 2014年

关键词：

TRACKING;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this work the authors present a visual servoing approach based on particle swarm optimization (PSO-PBVS). The PSO-PBVS algorithm overcomes the traditional PBVS approach by keeping the target features inside the image plane during the servoing. The PSO-PBVS approach allows to define the 3D trajectory in the task space, in the same way as the PBVS approach. In addition, an intelligent control is used to estimate the currents for each motor, and ensure that the motors provide the desired velocities.

引用

页码：1488 / 1493

页数：6

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